Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

Abstract

In this study, real-time trajectory tracking control of an autonomous mobile robot has been designed, analyzed and studied. Two control techniques such as the proportionalintegral-derivative (PID) control and model based sliding mode control (SMC) have been considered to increase the tracking performance of the mobile robot. Firstly, kinematic and dynamic analysis of the system have been obtained and then this dynamic model has been used for proposed sliding mode controller in order to increase trajectory tracking performance of the system. The experimental outcomes strongly verified that the proposed controller gives a quite well trajectory tracking response and smaller magnitude overshot compared with the classical PID controller. . His work has focused on the development and application of control theory to a variety of mechatronic systems, with a focus on observation and estimation-based control. Much of his recent work has focused on the analysis and control of dynamical systems that arise in engineering applications. His areas of interest also include fuzzy logic and fuzzy control, neural networks, genetic algorithms, and their applications to dynamic systems and electrical engineering. Erzurum, Turkey, in 1990. He received the B.S. degree from Ataturk University, Erzurum, Turkey, in 2013 and he is currently working toward the M.S. degree. His research interests include the theory of mechatronic and robotic systems, with a focus on observation and estimation-based control. MEHMET RASİM YILDIRIM was born in